Tr16v2, Radar, mapbox, cancel button mode, etc

2026-02-18 04:54:24 +08:00 · 2025-08-05 15:03:35 +09:00
parent 99ef1b188d
commit 5662c0a7c0
25 changed files with 189 additions and 93 deletions
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -151,7 +151,6 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"ShowRouteInfo", PERSISTENT },
    {"ShowPathMode", PERSISTENT},
    {"ShowPathColor", PERSISTENT},
-    {"ShowPathModeCruiseOff", PERSISTENT},
    {"ShowPathColorCruiseOff", PERSISTENT},
    {"ShowPathModeLane", PERSISTENT},
    {"ShowPathColorLane", PERSISTENT},
@@ -192,6 +191,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
    {"ComfortBrake", PERSISTENT},
    {"JLeadFactor3", PERSISTENT},
    {"CruiseButtonMode", PERSISTENT},
+    {"CancelButtonMode", PERSISTENT},
    {"LfaButtonMode", PERSISTENT},
    {"CruiseButtonTest1", PERSISTENT},
    {"CruiseButtonTest2", PERSISTENT},
--- a/launch_openpilot.sh
+++ b/launch_openpilot.sh
@@ -1,3 +1,6 @@
 #!/usr/bin/env bash
-
+if [[ "$(cat /data/params/d/EnableConnect)" == "2" ]]; then
+  export API_HOST="https://api.carrotpilot.app"
+  export ATHENA_HOST="wss://athena.carrotpilot.app"
+fi
 exec ./launch_chffrplus.sh
--- a/opendbc_repo/opendbc/car/hyundai/carstate.py
+++ b/opendbc_repo/opendbc/car/hyundai/carstate.py
@@ -311,7 +311,7 @@ class CarState(CarStateBase):
    cruise_button = [Buttons.NONE]
    if self.cruise_buttons_alt:
      lfa_button = cp.vl["CRUISE_BUTTON_LFA"]["CruiseSwLfa"]
-      cruise_button = [Buttons.LFA_BUTTON] if lfa_button > 0 else cp.vl_all["CRUISE_BUTTON_ALT"]["CruiseSwState"]
+      cruise_button = [Buttons.LFA_BUTTON] if lfa_button > 0 else [cp.vl["CRUISE_BUTTON_ALT"]["CruiseSwState"]]
    elif self.HAS_LFA_BUTTON and cp.vl["BCM_PO_11"]["LFA_Pressed"] == 1:  # for K5
      cruise_button = [Buttons.LFA_BUTTON]
    else:
@@ -461,7 +461,7 @@ class CarState(CarStateBase):
    if self.CP.flags & HyundaiFlags.CAMERA_SCC.value:
      self.MainMode_ACC = cp_cam.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
      self.ACCMode = cp_cam.vl["SCC_CONTROL"]["ACCMode"]
-      self.LFA_ICON = cp_cam.vl["LFAHDA_CLUSTER"]["LFA_ICON"]
+      self.LFA_ICON = cp_cam.vl["LFAHDA_CLUSTER"]["HDA_LFA_SymSta"]
      
    if self.CP.openpilotLongitudinalControl:
      # These are not used for engage/disengage since openpilot keeps track of state using the buttons
@@ -524,6 +524,8 @@ class CarState(CarStateBase):
      self.tcs_info_373 = cp.vl["TCS"]
    
    ret.gearStep = cp.vl["GEAR"]["GEAR_STEP"] if self.GEAR else 0
+    if 1 <= ret.gearStep <= 8 and ret.gearShifter == GearShifter.unknown:
+      ret.gearShifter = GearShifter.drive
    ret.gearStep = cp.vl["GEAR_ALT"]["GEAR_STEP"] if self.GEAR_ALT else ret.gearStep

    if cp_alt and self.CP.flags & HyundaiFlags.CAMERA_SCC:
--- a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+++ b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
@@ -268,10 +268,13 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)

 def create_lfahda_cluster(packer, CS, CAN, long_active, lat_active):
+
  if CS.lfahda_cluster_info is not None:
    values = {} #
-    values["HDA_ICON"] = 1 if long_active else 0
-    values["LFA_ICON"] = 2 if lat_active else 0
+    values["HDA_CntrlModSta"] = 2 if long_active else 0
+    values["HDA_LFA_SymSta"] = 2 if lat_active else 0
+
+    # 
  else:
    return []
  return [packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)]
@@ -511,7 +514,7 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
        values["NAV_ICON"] = 2 if nav_active else 0
        values["HDA_ICON"] = 5 if hdp_active else 2 if cruise_enabled else 1 if main_enabled else 0
        values["LFA_ICON"] = 5 if hdp_active else 2 if lat_active else 1 if lat_enabled else 0
-        values["LKA_ICON"] = 4 if lat_active else 3 if lat_enabled else 1
+        values["LKA_ICON"] = 4 if lat_active else 3 if lat_enabled else 0
        values["FCA_ALT_ICON"] = 0

        if values["ALERTS_2"] in [1, 2, 5]:
--- a/opendbc_repo/opendbc/car/hyundai/interface.py
+++ b/opendbc_repo/opendbc/car/hyundai/interface.py
@@ -229,7 +229,7 @@ class CarInterface(CarInterfaceBase):

    # Dashcam cars are missing a test route, or otherwise need validation
    # TODO: Optima Hybrid 2017 uses a different SCC12 checksum
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
+    #ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }

    return ret

--- a/opendbc_repo/opendbc/car/hyundai/values.py
+++ b/opendbc_repo/opendbc/car/hyundai/values.py
@@ -748,7 +748,7 @@ class CAR(Platforms):
  )
  KIA_K5_HEV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia K5 Hybrid 2017", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
-    CarSpecs(mass=1515, wheelbase=2.80, steerRatio=15.5, tireStiffnessFactor=0.7),
+    CarSpecs(mass=1705, wheelbase=2.80, steerRatio=15.5, tireStiffnessFactor=0.7),
    flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY,
  )
  KIA_K5_HEV_2022 = HyundaiPlatformConfig(
--- a/opendbc_repo/opendbc/car/rivian/radar_interface.py
+++ b/opendbc_repo/opendbc/car/rivian/radar_interface.py
@@ -62,7 +62,7 @@ class RadarInterface(RadarInterfaceBase):
        self.pts[addr].yRel = 0.5 * -math.sin(azimuth) * msg['LONG_DIST']
        self.pts[addr].vRel = msg['REL_SPEED']
        self.pts[addr].aRel = float('nan')
-        self.pts[addr].yvRel = float('nan')
+        self.pts[addr].yvRel = 0 #float('nan')

      else:
        del self.pts[addr]
--- a/opendbc_repo/opendbc/car/toyota/radar_interface.py
+++ b/opendbc_repo/opendbc/car/toyota/radar_interface.py
@@ -83,7 +83,7 @@ class RadarInterface(RadarInterfaceBase):
          self.pts[ii].vRel = cpt['REL_SPEED']
          self.pts[ii].vLead = self.pts[ii].vRel + self.v_ego
          self.pts[ii].aRel = float('nan')
-          self.pts[ii].yvRel = float('nan')
+          self.pts[ii].yvRel = 0 #float('nan')
          self.pts[ii].measured = bool(cpt['VALID'])
        else:
          if ii in self.pts:
--- a/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
+++ b/opendbc_repo/opendbc/dbc/generator/hyundai/hyundai_canfd.dbc
@@ -492,17 +492,21 @@ BO_ 474 ADRV_0x1da: 32 ADRV
 SG_ SET_ME_22 : 31|8@0+ (1,0) [0|255] "" XXX
 SG_ SET_ME_41 : 47|8@0+ (1,0) [0|255] "" XXX

-BO_ 480 LFAHDA_CLUSTER: 16 ADRV
+BO_ 480 LFAHDA_CLUSTER: 16 FR_CMR
 SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
 SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ OptUsmState : 26|3@0+ (1,0) [0|7] "" XXX
- SG_ HDA_ICON : 30|2@1+ (1,0) [0|3] "" XXX
- SG_ LFA_State : 34|3@0+ (1,0) [0|7] "" XXX
- SG_ LFA_ICON : 47|2@1+ (1,0) [0|3] "" XXX
- SG_ LFA_WrnSnd : 49|2@1+ (1,0) [0|3] "" XXX
- SG_ HDA_InfoPopup : 51|3@1+ (1,0) [0|7] "" XXX
- SG_ LFA_Deactive : 54|2@1+ (1,0) [0|3] "" XXX
-
+ SG_ HDA_OptUsmSta : 24|3@1+ (1,0) [0|0] ""  CGW
+ SG_ LFA_OptUsmSta : 27|3@1+ (1,0) [0|0] ""  CGW
+ SG_ HDA_CntrlModSta : 30|2@1+ (1,0) [0|0] ""  CGW
+ SG_ HDA_InfoPUDis : 32|3@1+ (1,0) [0|0] ""  CGW
+ SG_ HDA_AutoSetSpdSta : 35|2@1+ (1,0) [0|0] ""  CGW
+ SG_ HDA_AutoSetSpdUpdtSta : 37|2@1+ (1,0) [0|0] ""  CGW
+ SG_ HDA_AutoSetSpdVal : 39|8@1+ (1,0) [0|0] "km/h"  CGW
+ SG_ HDA_LFA_SymSta : 47|2@1+ (1,0) [0|0] ""  CGW
+ SG_ HDA_LFA_WrnSnd : 49|2@1+ (1,0) [0|0] ""  Dummy
+ SG_ HDA_InfoPUDis1 : 51|3@1+ (1,0) [0|7] ""  CLU,CGW
+ SG_ HDA_TDMRMDclReq : 54|2@1+ (1,0) [0|3] ""  Dummy
+ 
 BO_ 490 ADRV_0x1ea: 32 ADRV
 SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
 SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
@@ -975,6 +979,16 @@ VAL_ 426 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4
 VAL_ 463 CRUISE_BUTTONS 0 "none" 1 "res_accel" 2 "set_decel" 3 "gap_distance" 4 "pause_resume" ;
 VAL_ 463 RIGHT_PADDLE 0 "Not Pulled" 1 "Pulled";
 VAL_ 463 LEFT_PADDLE 0 "Not Pulled" 1 "Pulled";
+VAL_ 480 HDA_OptUsmSta 0 "Not Applied" 1 "Function Off" 2 "Function On" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Invalid (Fail)" ;
+VAL_ 480 LFA_OptUsmSta 0 "Not Applied" 1 "Function Off" 2 "Function On" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Reserved" 7 "Invalid (Fail)" ;
+VAL_ 480 HDA_CntrlModSta 0 "System Deactive (Default)" 1 "System Ready" 2 "System Active" 3 "Reserved" ;
+VAL_ 480 HDA_InfoPUDis 0 "No pop-up" 1 "system start pop-up" 2 "system auto disengaged pop-up by highway off" 3 "system auto disengaged pop-up" 4 "system Fail pop-up" 5 "Hands-off pop up" 6 "Hands-off pop up w/ sound" 7 "System Automatic off" ;
+VAL_ 480 HDA_AutoSetSpdSta 0 "Auto Set Speed Off" 1 "Auto Set Speed On" 2 "Reserved" 3 "Error indicator" ;
+VAL_ 480 HDA_AutoSetSpdUpdtSta 0 "Auto Set Speed Update Off" 1 "Auto Set Speed Update On" 2 "Reserved" 3 "Error indicator" ;
+VAL_ 480 HDA_LFA_SymSta 0 "Off" 1 "Gray" 2 "Green" 3 "Green blink" ;
+VAL_ 480 HDA_LFA_WrnSnd 0 "Off " 1 "Additional Warning Sound" 2 "Reserved" 3 "Error indicator" ;
+VAL_ 480 HDA_InfoPUDis1 0 "No Pop-up" 1 "System Automatic off (LFA)" 2 "System Automatic off (HDA)" 3 "Reserved" 4 "Reserved" 5 "Reserved" 6 "Not Used" 7 "Error Indicator" ;
+VAL_ 480 HDA_TDMRMDclReq 0 "Not automatically deactivated state of LFA (default)" 1 "Automatically deactivated state of LFA" 2 "Reserved" 3 "Reserved" ;
 VAL_ 676 LEFT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
 VAL_ 676 RIGHT_LANE_LINE 0 "Not Detected" 1 "Low Confidence" 2 "Medium Confidence" 3 "High Confidence";
 VAL_ 736 MSLA_STATUS 0 "disabled" 1 "active" 2 "paused";
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -170,6 +170,7 @@ class VCruiseCarrot:
    self._cruise_speed_unit = 10
    self._cruise_speed_unit_basic = 1
    self._cruise_button_mode = 2
+    self._cancel_button_mode = 0
    self._lfa_button_mode = 0

    self._gas_pressed_count = 0
@@ -257,6 +258,7 @@ class VCruiseCarrot:
      self._cruise_speed_unit_basic = self.params.get_int("CruiseSpeedUnitBasic")
      self._paddle_mode = self.params.get_int("PaddleMode")
      self._cruise_button_mode = self.params.get_int("CruiseButtonMode")
+      self._cancel_button_mode = self.params.get_int("CancelButtonMode")
      self._lfa_button_mode = self.params.get_int("LfaButtonMode")
      self.autoRoadSpeedLimitOffset = self.params.get_int("AutoRoadSpeedLimitOffset")
      self.autoNaviSpeedSafetyFactor = self.params.get_float("AutoNaviSpeedSafetyFactor") * 0.01
@@ -408,7 +410,9 @@ class VCruiseCarrot:
          if bt == ButtonType.accelCruise:
            button_kph += SPEED_UP_UNIT if is_metric else SPEED_UP_UNIT * CV.MPH_TO_KPH
          elif bt == ButtonType.decelCruise:
-            button_kph -= SPEED_DOWN_UNIT if is_metric else SPEED_DOWN_UNIT * CV.MPH_TO_KPH
+            #button_kph -= SPEED_DOWN_UNIT if is_metric else SPEED_DOWN_UNIT * CV.MPH_TO_KPH
+            unit = SPEED_DOWN_UNIT * 1 if is_metric else CV.MPH_TO_KPH
+            button_kph = math.floor((button_kph - 0.01) / unit) * unit
          button_type = bt
        self.long_pressed = False
        self.button_cnt = 0
@@ -549,9 +553,9 @@ class VCruiseCarrot:
        print("lfaButton")
      elif button_type == ButtonType.cancel:
        self._paddle_decel_active = False
-        #if self._cruise_cancel_state:
-        #  self._lat_enabled = not self._lat_enabled
-        #  self._add_log("Lateral " + "enabled" if self._lat_enabled else "disabled")
+        if self._cancel_button_mode in [1]:
+          self._lat_enabled = False
+          self._add_log("Lateral " + "enabled" if self._lat_enabled else "disabled")
        self._cruise_cancel_state = True
        #self._v_cruise_kph_at_brake = 0
    else:
@@ -573,6 +577,7 @@ class VCruiseCarrot:
        self._lat_enabled = False
        self._paddle_decel_active = False
        self.params.put_bool_nonblocking("ExperimentalMode", not self.params.get_bool("ExperimentalMode"))
+        self._add_log("Lateral " + "enabled" if self._lat_enabled else "disabled")

    if self._paddle_mode > 0 and button_type in [ButtonType.paddleLeft, ButtonType.paddleRight]:  # paddle button
      self._cruise_control(-2, -1, "Cruise off & Ready (paddle)")
@@ -744,8 +749,11 @@ class VCruiseCarrot:
      elif self._paddle_decel_active:
        if self.xState in [3]:
          self._paddle_decel_active = False
+          v_cruise_kph = self.v_ego_kph_set
        elif self.d_rel > 0:
          self._paddle_decel_active = False
+          v_cruise_kph = self.v_ego_kph_set
+          

    if self._gas_pressed_count > self._gas_tok_timer:
      if CS.aEgo < -0.5:
--- a/selfdrive/carrot/carrot_man.py
+++ b/selfdrive/carrot/carrot_man.py
@@ -375,7 +375,7 @@ class CarrotMan:
  def carrot_navi_route(self):

    if self.carrot_serv.active_carrot > 1:
-      if self.navd_active:
+      if False and self.navd_active:  # mabox always active
        self.navd_active = False
        self.params.remove("NavDestination")
    if not self.navi_points_active or not SHAPELY_AVAILABLE or (self.carrot_serv.active_carrot <= 1 and not self.navd_active):
@@ -836,9 +836,10 @@ class CarrotMan:
        self.navd_active = True

        # 경로수신 -> carrotman active되고 약간의 시간지연이 발생함..
-        self.carrot_serv.active_count = 80
-        self.carrot_serv.active_sdi_count = self.carrot_serv.active_sdi_count_max
-        self.carrot_serv.active_carrot = 2
+        if not from_navd:
+          self.carrot_serv.active_count = 80
+          self.carrot_serv.active_sdi_count = self.carrot_serv.active_sdi_count_max
+          self.carrot_serv.active_carrot = 2

        coords = [{"latitude": c.latitude, "longitude": c.longitude} for c in coords]
        #print("navdNaviPoints=", self.navi_points)
@@ -1620,6 +1621,7 @@ class CarrotServ:
      self.nTBTTurnType = self.nTBTTurnTypeNext = -1
      self.roadcate = 8
      self.nGoPosDist = 0
+    if self.active_carrot <= 1 or self.active_kisa_count > 0:
      self.update_nav_instruction(sm)

    if self.xSpdType < 0 or (self.xSpdType not in [100,101] and self.xSpdDist <= 0) or (self.xSpdType in [100,101] and self.xSpdDist < -250):
@@ -1793,7 +1795,7 @@ class CarrotServ:
    pm.send('carrotMan', msg)

    inst = messaging.new_message('navInstructionCarrot')
-    if self.active_carrot > 1:
+    if self.active_carrot > 1 and self.active_kisa_count <= 0:
      inst.valid = True
    
      instruction = inst.navInstructionCarrot
--- a/selfdrive/carrot_settings.json
+++ b/selfdrive/carrot_settings.json
@@ -638,6 +638,19 @@
      "default": 0,
      "unit": 1
    },
+    {
+      "group": "버튼설정",
+      "name": "CancelButtonMode",
+      "title": "캔슬버튼작동모드(0)",
+      "descr": "0:Long control, 1: Long + Lateral",
+      "egroup": "BUTN",
+      "etitle": "Cancel Button Mode(0)",
+      "edescr": "0:Long control, 1: Long + Lateral",
+      "min": 0,
+      "max": 1,
+      "default": 0,
+      "unit": 1
+    },
    {
      "group": "버튼설정",
      "name": "LfaButtonMode",
@@ -928,12 +941,12 @@
      "group": "시작",
      "name": "EnableConnect",
      "title": "EnableConnect",
-      "descr": "콤마커넥트를 사용합니다\n 상황에 따라 BAN될 수 있습니다\n 재부팅 필요",
+      "descr": "(1:콤마, 2:당근)커넥트를 사용합니다\n 상황에 따라 BAN될 수 있습니다\n 재부팅 필요",
      "egroup": "START",
      "etitle": "EnableConnect",
-      "edescr": "Using Comma Connect. May be banned depending on the situation. Reboot required.",
+      "edescr": "Using (1:comma, 2:carrot) Connect. May be banned depending on the situation. Reboot required.",
      "min": 0,
-      "max": 1,
+      "max": 2,
      "default": 0,
      "unit": 1
    },
@@ -1146,19 +1159,6 @@
      "default": 12,
      "unit": 1
    },
-    {
-      "group": "화면패스",
-      "name": "ShowPathModeCruiseOff",
-      "title": "패스종류,크루즈OFF(9)",
-      "descr": "0:일반,1,2:사각,3,4:^^,5,6:사각,7,8:^^,9,10,11:smooth^^,12:smooth2^^,13:3줄,14:2줄,15:1줄",
-      "egroup": "DISP",
-      "etitle": "Show Path Mode:CruiseOFF(9)",
-      "edescr": "0:stock,1,2:REC,3,4:^^,5,6:REC,7,8:^^,9,10,11:smooth^^,12:smooth2^^,13:3lines,14:2lines,15:1lines",
-      "min": 0,
-      "max": 15,
-      "default": 9,
-      "unit": 1
-    },
    {
      "group": "화면패스",
      "name": "ShowPathColorCruiseOff",
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -56,6 +56,11 @@ class Controls:
    self.desired_curvature = 0.0
    self.yStd = 0.0

+    self.lead_left_dRel = None
+    self.lead_left_Lat = None
+    self.lead_right_dRel = None
+    self.lead_right_Lat = None
+
    self.LoC = LongControl(self.CP)
    self.VM = VehicleModel(self.CP)
    self.LaC: LatControl
@@ -253,20 +258,35 @@ class Controls:
          return None
        valid_leads = [
            lead for lead in leads
-            #if lead.status and abs(lead.dPath) < 3.5 and lead.vLead > 2.0 and 5 < lead.dRel < 100
-            if lead.status and abs(lead.dPath) < 4.2 and ((lead.vLead >= 2.0 and 5 < lead.dRel < 100) or (lead.vLead < 2.0 and 3 < lead.dRel < 30))
+            if lead.status and abs(lead.dPath) < 4.2 and lead.vLead > 2.0 and 2 < lead.dRel < 130
+            #if lead.status and abs(lead.dPath) < 4.2 and ((lead.vLead >= 2.0 and 5 < lead.dRel < 100) or (lead.vLead < 2.0 and 3 < lead.dRel < 30))
        ]
        return min(valid_leads, key=lambda l: l.dRel) if valid_leads else None

    lead_left = _find_closest_lead(radarState.leadsLeft, road_edge_left)
    lead_right = _find_closest_lead(radarState.leadsRight, road_edge_right)
    if lead_left is not None:
-      hudControl.leadLeftDist = lead_left.dRel
-      hudControl.leadLeftLat = abs(lead_left.dPath)
-      #print(f"Lead left: {lead_left.dRel:.2f}m, {lead_left.dPath:.2f}m, {lead_left.vRel:.2f}m/s")
+      if self.lead_left_dRel is None:
+        self.lead_left_dRel = lead_left.dRel
+        self.lead_left_Lat = abs(lead_left.dPath)
+      else:
+        self.lead_left_dRel = self.lead_left_dRel * 0.98 + lead_left.dRel * 0.02
+        self.lead_left_Lat = self.lead_left_Lat * 0.98 + abs(lead_left.dPath) * 0.02
+      hudControl.leadLeftDist = self.lead_left_dRel
+      hudControl.leadLeftLat = self.lead_left_Lat
+    else:
+      self.lead_left_dRel = None
    if lead_right is not None:
-      hudControl.leadRightDist = lead_right.dRel
-      hudControl.leadRightLat = abs(lead_right.dPath)
+      if self.lead_right_dRel is None:
+        self.lead_right_dRel = lead_right.dRel
+        self.lead_right_Lat = abs(lead_right.dPath)
+      else:
+        self.lead_right_dRel = self.lead_right_dRel * 0.98 + lead_right.dRel * 0.02
+        self.lead_right_Lat = self.lead_right_Lat * 0.98 + abs(lead_right.dPath) * 0.02
+      hudControl.leadRightDist = self.lead_right_dRel
+      hudControl.leadRightLat = self.lead_right_Lat
+    else:
+      self.lead_right_dRel = None


    hudControl.rightLaneVisible = True
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -32,11 +32,10 @@ class Track:
    self.cnt = 0
    self.aLeadTau = FirstOrderFilter(_LEAD_ACCEL_TAU, 0.45, DT_MDL)

-    self.radar_reaction_factor = Params().get_float("RadarReactionFactor") * 0.01
    self.is_stopped_car_count = 0
    self.selected_count = 0

-  def update(self, md, pt, ready):
+  def update(self, md, pt, ready, radar_reaction_factor):

    #pt_yRel = -leads_v3[0].y[0] if track_id in [0, 1] and pt.yRel == 0 and self.ready and leads_v3[0].prob > 0.5 else pt.yRel
    self.dRel = pt.dRel
@@ -53,9 +52,14 @@ class Track:
    if ready:
      self.dPath = self.yRel + np.interp(self.dRel, md.position.x, md.position.y)

-    a_lead_threshold = 0.5 * self.radar_reaction_factor
+    if self.cnt == 0:
+      self.yRel_filtered = self.yRel
+    else:
+      self.yRel_filtered = self.yRel_filtered * 0.98 + self.yRel * 0.02
+
+    a_lead_threshold = 0.5 * radar_reaction_factor
    if abs(self.aLead) < a_lead_threshold and abs(self.jLead) < 0.5:
-      self.aLeadTau.x = _LEAD_ACCEL_TAU * self.radar_reaction_factor
+      self.aLeadTau.x = _LEAD_ACCEL_TAU * radar_reaction_factor
    else:
      self.aLeadTau.update(0.0)

@@ -105,11 +109,14 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks
  max_offset_vision_vel = max(lead.v[0] * np.interp(lead.prob, [0.8, 0.98], [0.3, 0.5]), 5.0) # 확률이 낮으면 속도오차를 줄임.

  def prob(c):
-    if abs(offset_vision_dist - c.dRel) > max_offset_vision_dist: 
-      return -1e6
+    #if abs(offset_vision_dist - c.dRel) > max_offset_vision_dist: 
+    #  return -1e6

    #if abs(lead.v[0] - c.vLead) > max_offset_vision_vel:
    #    return -1e6
+
+    #if abs(c.yRel + c.yvLead * radar_lat_factor + lead.y[0]) > 3.0: # lead.y[0]는 반대..
+    #  return -1e6
      
    prob_d = laplacian_pdf(c.dRel, offset_vision_dist, lead.xStd[0])
    prob_y = laplacian_pdf(c.yRel + c.yvLead * radar_lat_factor, -lead.y[0], lead.yStd[0])
@@ -129,11 +136,21 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks
      best_score = score
      best_track = c

+  if best_track is not None and offset_vision_dist - best_track.dRel > max_offset_vision_dist: 
+    best_track = None
+
+  #if best_track is not None and lead.v[0] - best_track.vLead > max_offset_vision_vel:
+  #  best_track = None
+
+  if best_track is not None and abs(best_track.yRel + best_track.yvLead * radar_lat_factor + lead.y[0]) > 3.0: # lead.y[0]는 반대..
+    best_track = None
+
  if best_track is not None:
-    if abs(lead.v[0] - best_track.vLead) > max_offset_vision_vel:
+
+    if lead.v[0] - best_track.vLead > max_offset_vision_vel:
      best_track.is_stopped_car_count += 1
-      # 직전에 사용되었던것이라면 재사용, 3초간 유지된다면 정지차로 간주.
-      if best_track.selected_count < 1 and best_track.is_stopped_car_count < int(3.0/DT_MDL):
+      # 직전에 사용되었던것이라면 재사용, 2초간 유지된다면 정지차로 간주.
+      if best_track.selected_count < 1 and best_track.is_stopped_car_count < int(2.0/DT_MDL):
        best_track = None

    if best_track is not None:
@@ -174,6 +191,7 @@ def get_lead_side(v_ego, tracks, md, lane_width, model_v_ego, radar_lat_factor =
  leadCenter = {'status': False}
  leadLeft = {'status': False}
  leadRight = {'status': False}
+  leadCutIn = {'status': False}

  ## SCC레이더는 일단 보관하고 리스트에서 삭제...
  track_scc = tracks.get(0)
@@ -186,7 +204,7 @@ def get_lead_side(v_ego, tracks, md, lane_width, model_v_ego, radar_lat_factor =
    md_y = md.position.y
    md_x = md.position.x
  else:
-    return [[],[],[],leadCenter,leadLeft,leadRight]
+    return [[],[],[],leadCenter,leadLeft,leadRight,leadCutIn]

  leads_center = {}
  leads_left = {}
@@ -195,7 +213,7 @@ def get_lead_side(v_ego, tracks, md, lane_width, model_v_ego, radar_lat_factor =
  for c in tracks.values():
    # d_y :  path_y - traks_y 의 diff값
    # yRel값은 왼쪽이 +값, lead.y[0]값은 왼쪽이 -값
-    d_y = c.yRel + np.interp(c.dRel, md_x, md_y) + c.yvLead * radar_lat_factor
+    d_y = c.yRel_filtered + np.interp(c.dRel, md_x, md_y) + c.yvLead * radar_lat_factor
    if abs(d_y) < lane_width / 2 * 0.8:
      if c.cnt > 6:
        ld = c.get_RadarState(lead_msg.prob, float(-lead_msg.y[0]))
@@ -207,6 +225,10 @@ def get_lead_side(v_ego, tracks, md, lane_width, model_v_ego, radar_lat_factor =
      ld = c.get_RadarState(0, 0)
      leads_left[c.dRel] = ld

+    if abs(d_y) < 2.3 and 4 < c.dRel < 20.0 and c.vLead > 4.0:
+      if leadCutIn['status'] is False or c.dRel < leadCutIn['dRel']:
+        leadCutIn = c.get_RadarState(lead_msg.prob)
+
  if False: #lead_msg.prob > 0.5: # center에 비젼데이터 안넣음..
    ld = get_RadarState_from_vision(md, lead_msg, v_ego, model_v_ego)
    leads_center[ld['dRel']] = ld
@@ -228,6 +250,7 @@ def get_lead_side(v_ego, tracks, md, lane_width, model_v_ego, radar_lat_factor =
  leadRight = min((lead for dRel, lead in leads_right.items() if lead['dRel'] > 5.0 and abs(lead['dPath']) < 3.5), key=lambda x: x['dRel'], default=leadRight)
  leadCenter = min((lead for dRel, lead in leads_center.items() if lead['vLead'] > 5 and lead['radar']), key=lambda x: x['dRel'], default=leadCenter)

+
  #filtered_leads_left = {dRel: lead for dRel, lead in leads_left.items() if lead['dRel'] > 5.0}
  #if filtered_leads_left:
  #  dRel_min = min(filtered_leads_left.keys())
@@ -238,7 +261,7 @@ def get_lead_side(v_ego, tracks, md, lane_width, model_v_ego, radar_lat_factor =
  #  dRel_min = min(filtered_leads_right.keys())
  #  leadRight = filtered_leads_right[dRel_min]

-  return [ll, lc, lr, leadCenter, leadLeft, leadRight]
+  return [ll, lc, lr, leadCenter, leadLeft, leadRight, leadCutIn]

 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
             model_v_ego: float, low_speed_override: bool = True) -> dict[str, Any]:
@@ -417,7 +440,8 @@ class RadarD:
    self.enable_radar_tracks = self.params.get_int("EnableRadarTracks")
    self.enable_corner_radar = self.params.get_int("EnableCornerRadar")
    self.radar_lat_factor = self.params.get_float("RadarLatFactor") * 0.01
-
+    self.radar_reaction_factor = self.params.get_float("RadarReactionFactor") * 0.01
+    self.detect_cut_in = self.radar_lat_factor > 0

    leads_v3 = sm['modelV2'].leadsV3
    if sm.recv_frame['carState'] != self.last_v_ego_frame:
@@ -433,7 +457,7 @@ class RadarD:
      if track_id not in self.tracks:
        self.tracks[track_id] = Track(track_id)

-      self.tracks[track_id].update(sm['modelV2'], pt, self.ready)
+      self.tracks[track_id].update(sm['modelV2'], pt, self.ready, self.radar_reaction_factor)

    for tid in list(self.tracks.keys()):
      if tid not in valid_ids:
@@ -466,9 +490,19 @@ class RadarD:
      self.radar_state.leadOne, self.radar_detected = self.get_lead(sm['carState'], sm['modelV2'], self.tracks, 0, leads_v3[0], model_v_ego, low_speed_override=False)
      self.radar_state.leadTwo, _ = self.get_lead(sm['carState'], sm['modelV2'], self.tracks, 1, leads_v3[1], model_v_ego, low_speed_override=False)

-      ll, lc, lr, leadCenter, self.radar_state.leadLeft, self.radar_state.leadRight = get_lead_side(self.v_ego, self.tracks, sm['modelV2'], 3.2, model_v_ego, self.radar_lat_factor)
+      ll, lc, lr, leadCenter, self.radar_state.leadLeft, self.radar_state.leadRight, leadCutIn = get_lead_side(self.v_ego, self.tracks, sm['modelV2'], 3.2, model_v_ego, self.radar_lat_factor)

-      if leadCenter is not None and leadCenter["status"]:
+      if leadCutIn is not None and leadCutIn["status"] and self.detect_cut_in:
+        if self.radar_state.leadOne.status:
+          if leadCutIn["dRel"] < self.radar_state.leadOne.dRel:
+            leadCutIn["modelProb"] = 0.03
+            self.radar_state.leadOne = leadCutIn
+            self.radar_detected = True
+        else:
+          self.radar_detected = True
+          leadCutIn["modelProb"] = 0.03
+          self.radar_state.leadOne = leadCutIn
+      elif leadCenter is not None and leadCenter["status"]:
        if self.radar_detected:
          if leadCenter["dRel"] < self.radar_state.leadOne.dRel:
            leadCenter["modelProb"] = 0.01
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -164,14 +164,14 @@ class ModelState:
    if prepare_only:
      return None

-    self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
+    self.vision_output = self.vision_run(**self.vision_inputs).numpy().flatten()
    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))

    self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
    self.full_features_buffer[0,-1] = vision_outputs_dict['hidden_state'][0, :]
    self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]

-    self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
+    self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten()
    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))

    # TODO model only uses last value now
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -93,9 +93,6 @@ class Parser:
    self.parse_binary_crossentropy('lane_lines_prob', outs)
    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
    self.parse_binary_crossentropy('meta', outs)
-    self.parse_binary_crossentropy('lead_prob', outs)
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-      out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
    return outs

  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
@@ -106,6 +103,9 @@ class Parser:
    if 'desired_curvature' in outs:
      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
+    self.parse_binary_crossentropy('lead_prob', outs)
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+      out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
    return outs

  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
--- a/selfdrive/ui/carrot.cc
+++ b/selfdrive/ui/carrot.cc
@@ -764,7 +764,7 @@ public:
        NVGcolor rcolor = isLeadSCC() ? COLOR_RED : COLOR_ORANGE;
        NVGcolor  pcolor = !isRadarDetected() ? ((trafficState == 1) ? rcolor : COLOR_GREEN) : isRadarDetected() ? rcolor : COLOR_BLUE;
        bool show_path_end = true;
-        if (show_path_end && !isLeadDetected()) {
+        if (false && show_path_end && !isLeadDetected()) {
            px[0] = path_x - path_width / 2;
            px[1] = path_x + path_width / 2;
            px[2] = path_x + path_width / 2;
@@ -1145,9 +1145,9 @@ protected:
            int remaining_minutes = (int)nGoPosTime / 60;
            local->tm_min += remaining_minutes;
            mktime(local);
-            sprintf(str, "도착: %.1f분(%02d:%02d)", (float)nGoPosTime / 60., local->tm_hour, local->tm_min);
+            sprintf(str, "%s: %.1f%s(%02d:%02d)", tr("ETA").toStdString().c_str(), (float)nGoPosTime / 60., tr("MIN").toStdString().c_str(), local->tm_hour, local->tm_min);
            ui_draw_text(s, tbt_x + 190, tbt_y + 80, str, 50, COLOR_WHITE, BOLD);
-            sprintf(str, "%.1fkm", nGoPosDist / 1000.);
+            sprintf(str, "%.1f%s", nGoPosDist / 1000. * ((s->scene.is_metric)?1:KM_TO_MILE), (s->scene.is_metric) ? "km" : "mile");
            ui_draw_text(s, tbt_x + 190 + 120, tbt_y + 130, str, 50, COLOR_WHITE, BOLD);
        }
        return 0;
@@ -1382,7 +1382,6 @@ private:
    int     show_path_color_normal = 14;
    int     show_path_mode_lane = 13;
    int     show_path_color_lane = 14;
-    int     show_path_mode_cruise_off = 13;
    int     show_path_color_cruise_off = 14;
    float   show_path_width = 1.0;
    Params  params;
@@ -1602,19 +1601,16 @@ protected:

        auto selfdrive_state = sm["selfdriveState"].getSelfdriveState();
        longActive = selfdrive_state.getEnabled();
-        if (longActive == false) {
-            show_path_mode = show_path_mode_cruise_off;
-            show_path_color = show_path_color_cruise_off;
+        if (active_lane_line) {
+          show_path_mode = show_path_mode_lane;
+          show_path_color = show_path_color_lane;
        }
        else {
-			    if (active_lane_line) {
-				    show_path_mode = show_path_mode_lane;
-				    show_path_color = show_path_color_lane;
-			    }
-          else {
-              show_path_mode = show_path_mode_normal;
-              show_path_color = show_path_color_normal;
-          }
+          show_path_mode = show_path_mode_normal;
+          show_path_color = show_path_color_normal;
+        }
+        if (longActive == false) {
+            show_path_color = show_path_color_cruise_off;
        }

        if (show_path_mode == 0) {
@@ -1639,7 +1635,6 @@ public:
            show_path_color_normal = params.getInt("ShowPathColor");
            show_path_mode_lane = params.getInt("ShowPathModeLane");
            show_path_color_lane = params.getInt("ShowPathColorLane");
-            show_path_mode_cruise_off = params.getInt("ShowPathModeCruiseOff");
            show_path_color_cruise_off = params.getInt("ShowPathColorCruiseOff");
        }
        if (!make_data(s)) return;
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -660,6 +660,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {

  cruiseToggles = new ListWidget(this);
  cruiseToggles->addItem(new CValueControl("CruiseButtonMode", "Button: Cruise Button Mode", "0:Normal,1:User1,2:User2", 0, 2, 1));
+  cruiseToggles->addItem(new CValueControl("CancelButtonMode", "Button: Cancel Button Mode", "0:Long,1:Long+Lat", 0, 1, 1));
  cruiseToggles->addItem(new CValueControl("LfaButtonMode", "Button: LFA Button Mode", "0:Normal,1:Decel&Stop&LeadCarReady", 0, 1, 1));
  cruiseToggles->addItem(new CValueControl("CruiseSpeedUnitBasic", "Button: Cruise Speed Unit(Basic)", "", 1, 20, 1));
  cruiseToggles->addItem(new CValueControl("CruiseSpeedUnit", "Button: Cruise Speed Unit(Extra)", "", 1, 20, 1));
@@ -747,7 +748,6 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
  //dispToggles->addItem(new CValueControl("ShowDmInfo", "DM Info", "0:None,1:Display,-1:Disable(Reboot)", -1, 1, 1));

  pathToggles = new ListWidget(this);
-  pathToggles->addItem(new CValueControl("ShowPathModeCruiseOff", "Path Mode: Cruise OFFF", "0:Normal,1,2:Rec,3,4:^^,5,6:Rec,7,8:^^,9,10,11,12:Smooth^^", 0, 15, 1));
  pathToggles->addItem(new CValueControl("ShowPathColorCruiseOff", "Path Color: Cruise OFF", "(+10:Stroke)0:Red,1:Orange,2:Yellow,3:Green,4:Blue,5:Indigo,6:Violet,7:Brown,8:White,9:Black", 0, 19, 1));
  pathToggles->addItem(new CValueControl("ShowPathMode", "Path Mode: Laneless", "0:Normal,1,2:Rec,3,4:^^,5,6:Rec,7,8:^^,9,10,11,12:Smooth^^", 0, 15, 1));
  pathToggles->addItem(new CValueControl("ShowPathColor", "Path Color: Laneless", "(+10:Stroke)0:Red,1:Orange,2:Yellow,3:Green,4:Blue,5:Indigo,6:Violet,7:Brown,8:White,9:Black", 0, 19, 1));
@@ -822,7 +822,7 @@ CarrotPanel::CarrotPanel(QWidget* parent) : QWidget(parent) {
  startToggles->addItem(new CValueControl("SoundVolumeAdjust", "Sound Volume(100%)", "", 5, 200, 5));
  startToggles->addItem(new CValueControl("SoundVolumeAdjustEngage", "Sound Volume, Engage(10%)", "", 5, 200, 5));
  startToggles->addItem(new CValueControl("MaxTimeOffroadMin", "Power off time (min)", "", 1, 600, 10));
-  startToggles->addItem(new CValueControl("EnableConnect", "EnableConnect", "Your device may be banned by Comma", 0, 1, 1));
+  startToggles->addItem(new CValueControl("EnableConnect", "EnableConnect", "Your device may be banned by Comma", 0, 2, 1));
  startToggles->addItem(new CValueControl("MapboxStyle", "Mapbox Style(0)", "", 0, 2, 1));
  startToggles->addItem(new CValueControl("RecordRoadCam", "Record Road camera(0)", "1:RoadCam, 2:RoadCam+WideRoadCam", 0, 2, 1));
  startToggles->addItem(new CValueControl("HDPuse", "Use HDP(CCNC)(0)", "1:While Using APN, 2:Always", 0, 2, 1));
--- a/selfdrive/ui/qt/screenrecorder/screenrecorder.cc
+++ b/selfdrive/ui/qt/screenrecorder/screenrecorder.cc
@@ -172,7 +172,7 @@ void ScreenRecoder::update_screen() {

  if(recording) {

-    if(milliseconds() - started > 1000*60*3) {
+    if(milliseconds() - started > 1000*60*20) {   // 20 minutes
      stop();
      start();
      return;
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -759,6 +759,17 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
        <translation>신호대기</translation>
    </message>
 </context>
+<context>
+    <name>TurnInfoDrawer</name>
+    <message>
+        <source>ETA</source>
+        <translation>도착</translation>
+    </message>
+    <message>
+        <source>MIN</source>
+        <translation>분</translation>
+    </message>
+</context>
 <context>
    <name>PrimeAdWidget</name>
    <message>
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -33,6 +33,8 @@ def register(show_spinner=False) -> str | None:
  """
  params = Params()

+
+  #return UNREGISTERED_DONGLE_ID  # for c3lite, clone
  dongle_id: str | None = params.get("DongleId", encoding='utf8')
  if dongle_id is None and Path(Paths.persist_root()+"/comma/dongle_id").is_file():
    # not all devices will have this; added early in comma 3X production (2/28/24)
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -86,6 +86,8 @@ class Uploader:

    self.immediate_folders = ["crash/", "boot/"]
    self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
+    if (self.params.get_int("EnableConnect") == 2):
+      self.immediate_priority.update({"rlog": 0, "rlog.zst": 0})

  def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
    r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -51,7 +51,6 @@ def get_default_params():
    ("ShowRouteInfo", "1"),
    ("ShowPathMode", "9"),
    ("ShowPathColor", "13"),
-    ("ShowPathModeCruiseOff", "0"),
    ("ShowPathColorCruiseOff", "19"),
    ("ShowPathModeLane", "14"),
    ("ShowPathColorLane", "13"),
@@ -92,6 +91,7 @@ def get_default_params():
    ("StopDistanceCarrot", "550"),
    ("JLeadFactor3", "0"),
    ("CruiseButtonMode", "0"),
+    ("CancelButtonMode", "0"),
    ("LfaButtonMode", "0"),
    ("CruiseButtonTest1", "8"),
    ("CruiseButtonTest2", "30"),